5 papers
SCOPE: Score-Isolated Agentic Optimization for Video World Models
Yuhua Jiang, Jiaming Wang, Qingbin Liu +1
Video world models are increasingly used as simulators for planning and embodied decision making, yet improving them at inference time introduces a subtle evaluation problem: promp…
VLA-GSE: Boosting Parameter-Efficient Fine-Tuning in VLA with Generalized and Specialized Experts
Yuhua Jiang, Junjie Lu, Xinyao Qin +4
Vision-language-action (VLA) models inherit rich visual-semantic priors from pre-trained vision-language backbones, but adapting them to robotic control remains challenging. Full f…
CKT-WAM: Parameter-Efficient Context Knowledge Transfer Between World Action Models
Yuhua Jiang, Yijun Guo, Hongbing Yang +7
World action models (WAMs) provide a powerful generative framework for embodied control, yet transferring knowledge across heterogeneous WAMs remains challenging due to mismatched…
AsyncVLA: Asynchronous Flow Matching for Vision-Language-Action Models
Yuhua Jiang, Shuang Cheng, Yan Ding +2
Vision-language-action (VLA) models have recently emerged as a powerful paradigm for building generalist robots. However, traditional VLA models that generate actions through flow…
Nirvana: A Specialized Generalist Model With Task-Aware Memory Mechanism
Yuhua Jiang, Shuang Cheng, Yihao Liu +7
Large Language Models (LLMs) excel at general language tasks but struggle in specialized domains. Specialized Generalist Models (SGMs) address this by preserving broad capabilities…